Traction provider robot for patient&#39;s fractured foot in surgical operation

ABSTRACT

The invented robot provides necessary traction for reduction of foot bone fracture in surgical operation. This robot is equipped with four electrical motor and with aid of three linear and one rotational degree of freedom assists surgery team to align broken foot bone fragments in line precisely. Hence patient foot restores its desired direction during all different stages of operation with proper traction.

FIELD OF THE INVENTION

This invention categorized as operating room equipment. Specifically the robot is invented to provide traction for reduction of patient fractured foot in operating room.

BACKGROUND OF THE INVENTION

Displacement of bones due to muscle spasms nearby fractured bones of patient with broken foot makes fixation of the bone in their desired position difficult during operation, consequently. Despite relative relaxation of muscles in surgeries with general or local anesthesia, traction of bones for reduction will be necessary because of inadequacy of muscle relaxation. This traction is applied to align broken foot bone fragments in line precisely until completeness of bone. To this end, various methods have been utilized during the ages.

The most traditional method is to apply force by operating room staffs. In this method the operating room technicians pull patient foot by hand and their weight force which is harmful for their vertebral column and wrist. Furthermore as traction period lasts long, effective and monotone traction force will be abated because of technicians' fatigue. Locating pin in the heel of patient foot and hanging weights on pin is another procedure. This method sustains damages to patient's foot and bone and causes undesired postoperative complications. To prevent foresaid problems, fracture table is utilized.

The patient foot is fixed manually on these tables which have different shapes and forms among shortcomings of such tables; taking up too much occupation space, heavy weight, and consequent transportation difficulties, limitations for widespread use in all type of fractures, time consuming installation procedure on operating table, restricted capability to connect to special tables (not all operating tables) and disability to apply traction in all directions, are mentionable. It's noteworthy that efficiency of these methods is diminished when using for larger bones like femur.

SUMMARY OF THE INVENTION

The invented robot solves aforesaid problems so causes fracture reduction with a better quality by inserting more effective and monotone traction in desired directions during surgical operation, thus facilitate the performance of surgical team.

This portable robot possesses a section for locating patient foot and provides three liner & one rotational degrees of freedom for restoring foot in desirable position by its four electrical motors. Therefore the operator adjusts position of patient foot precisely under his/her control using a display monitor or a remote control device and locating the foot in a desirable position leads to necessary traction in several directions continuously and effectively. Liner and rotational accuracy of movements of this robot are measured one millimeter and one degree respectively. Moreover oxygen content of patient blood can be shown together with foot position by the monitor.

This robot is independent with regard to the type of operating table and can be combined with any of them. Other advantages of this invention in comparison with traditional methods are as follows. Taking up less occupation space, preventing damage to foot nerves, using chargeable batteries, possible utilizing for both feet (even for massive patient) and majority of foot bones (even large size one like femur), preventing time wasting, deducting number of operating room's staffs and eliminating probable body injuries of them. Its noteworthy that place of patient foot in this robot is washable, so bacterial contaminations are kept minimized when using the invention.

DESCRIPTION OF DRAWINGS

FIG. 1 shows invented robot in three-dimensional forms.

FIG. 2 shows components of invented robot in three-dimensional forms.

FIG. 3 illustrates components of movement mechanism of invented robot for displacement on a horizontal plate.

FIG. 4 shows mechanism of vertical movement of invented robot.

FIG. 5 presents mechanism of rotational movement of invented robot.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 shows three-dimensional view of invented robot. It can be carried to subjected place nearby operating table by its four wheels with lock (1) and handle (2) and is fixed on the ground by its four adjustable bases (3). The robot is ready to use in this situation.

To use of the robot, shin (100) of patient is located on section/shin holder (4) and his/her ankle (200) on section/ankle holder (5) in such a way that the sole (300) is settled on section/sole holder (6). The next step is to secure patients foot toward the robot by ankle and shank fixator straps (7). The operator commands the robot to arrange its proper situation for applying necessary traction to patient's foot by application of a finger touch screen (8) (or a remote control) which is located on top portion of case (9). By touch screen (8) all three linear and one rotational degrees of freedom for displacement of patient's foot is controllable. The desired traction is provided by the robot during all different stages of the operation.

In FIG. 2, internal components of robot can be seen when the main case ((9) in FIG. 1) is eliminated. According to this figure, two chassis (10) are installed on main body (11) of robot, where the movement mechanisms are erected.

FIG. 3 illustrates components of movement mechanism of invented robot in X and Y-axis directions. To make movement in Y-axis direction a motor-gearbox set (12) is coupled to section (13). A known mechanism named ball-screw is used to convert rotational movement of motor-gearbox set (12) to a linear displacement. The main components of this mechanism including, screw (14), nut and flange (15) are seen in FIG. 3.

As motor-gearbox set (12) is coupled to section (13), the screw (14) in ball-screw mechanism turns and nut and flange (15) moves in Y-axis direction. Linear guides/shafts (16) and (17) and wagons (18) and (19) are utilized to maintain more stability for the movement. The screw (14) by bearings (20) and (21) and linear guides (16) and (17) by stands (22), (23), (24) and (25) are joined to case (26). The lower part of case (26) is also connected to main chassis of robot ((10) in FIG. 2). Furthermore, the lower part of case (27) is installed on upper portion of wagons (18) and (19) and flange (15).

In FIG. 2, internal components of robot can be seen when the main case ((9) in FIG. 1) is eliminated. According to this figure, two chassis (10) are installed on main body (11) of robot, where the movement mechanisms are erected.

FIG. 3 illustrates components of movement mechanism of invented robot in X and Y-axis directions. To make movement in Y-axis direction a motor-gearbox set (12) is coupled to section (13). A known mechanism named ball-screw is used to convert rotational movement of motor-gearbox set (12) to a linear displacement. The main components of this mechanism including, screw (14), nut and flange (15) are seen in FIG. 3.

As motor-gearbox set (12) is coupled to section (13), the screw (14) in ball-screw mechanism turns and nut and flange (15) moves in Y-axis direction. Linear guides (16) and (17) and wagons (18) and (19) are utilized to maintain more stability for the movement. The screw (14) by bearings (20) and (21) and linear guides (16) and (17) by stands (22), (23), (24) and (25) are joined to case (26). The lower part of case (26) is also connected to main chassis of robot ((10) in FIG. 2). Furthermore, the lower part of case (27) is installed on upper portion of wagons (18) and (19) and flange (15). Therefore when motor-gearbox (12) turns, the case (27) will moves linearly in direction of Y-axis. The case (27) can move in a 400 millimeters course.

For movement in X-axis direction, a ball-screw mechanism similar to one for Y-axis movement is considered that consists of screw (28), nut and flange (29), linear guides (30) and (31), wagons (33) and (34), bearings (35) and (36) and stands (37), (38), (39), and (40). Motor-gearbox set (41) also causes screw (28) to rotate with a same coupling as motor (12). Rotation of screw (28) causes movement of nut and flange (29) linearly in X-axis direction. Moreover top portions of flange (29) and wagons (33) and (34) are joined to lower part of section (42) in FIG. 4, so this section ((42) in FIG. 4) moves in X-axis direction with a 300 millimeters course. Parts (43) and (44) of cases (26) and (27) are considered to locate motor-gearbox sets (12) and (41) on cases (26) and (27).

FIG. 4 shows components of movement mechanism of invented robot in Z-axis direction (vertical) to convert rotational movement of motor-gearbox (45) to linear displacement in z direction; also, a ball screw mechanism with screw (46) has been utilized. The nut of this mechanism is installed inside an elevator (47). The wagons (48) and (49), as can be seen in FIG. 4, are connected to elevator (47) and are mounted on guides (50) and (51).

These guides and wagons are used to maintain stability. Guides (50) and (51) are joined to case (52) and screw (46) has been passed through this case. As can be seen in FIG. 4, the case (52) and elevator (47) are designed in such a way that possesses minimum volume and weight. To gain this aim, motor (45) is installed beside case (52) and two bevel gears (53) and (54) are used for power transmission to desired direction. Furthermore sections (55) in elevator (47) are connected to lower part of plate ((56) in FIG. 5). It's noteworthy that motor-gearbox (45) is controlled in such a way that patient's foot is displaced between 600 to 1100 millimeters vertically.

According to FIG. 5, motor-gearbox set (57) is coupled to shaft (58) which the other side of the shaft is joined to section (6) where patient sole is located. Therefore, shaft (58) will turns when motor-gearbox set (57) rotates inside bearing (59) and patient turn in XZ-plane direction, consequently. The motor-gearbox (57) is controlled in such a way that patient foot turns in the range of −90 up to +90 in comparison with Z-axes. The bearing (59) is also mounted on plate (56).

It must be mentioned that with respect to size of patient's foot, interval between sections (5) and (4) is adjusted by the aid of adjusting screws (60) and (61) and movement of section (5) on rails (62) and (63). A pulse oximeter (64) is also located on robot to observe oxygen content of patient blood. Toe of patient is placed inside clips of oximeter and output data will be displayed on touch screen monitor ((8) in FIG. 1). Furthermore, section 65 (in FIG. 4) of elevator (47) (in FIG. 4) is considered for locating motor-gearbox (57) on elevator (47) (in FIG. 4).

Briefly, rotation of motor-gearbox sets ((12) and (41) in FIGS. 3 and (45) in FIG. 4), causes movement of section (66) (in FIG. 5) in X, Y and Z-axis directions, respectively and rotation of motor-gearbox (57) (in FIG. 5) leads to rotation of sections where patient foot located ((4), (5) and (6) in FIG. 1). It is noteworthy that the Invented robot is powered by a chargeable 12 volts battery and all four motors of the invented robot have encoders and are controlled via central control system of the robot by monitor ((8) in FIG. 1) or remote control device by operator. 

1- A traction provider robot for patient's fractured foot in surgical operation comprising: A main body/frame covered up by a main case; four wheels, and four adjustable legs fixedly attached on either side of said main frame near each one each one of said four wheels respectively, locking said main body/frame and main case in place; wherein said robot is nestled inside said main case and is attached to said main frame and can move in a 3D axis; wherein said robot comprises a shin holder, an ankle holder, a sole holder and multiple straps for tightly holding a patient's foot in place during surgery; and a main motor for controlling and running three gear boxes. 2- The system of claim 1, wherein said main body further comprises at least two chassis attached on inside of said main case, perpendicular to bottom side of said main frame and facing up and away from said four legs; wherein said robot and its 3D moving mechanisms are attached to said at least two chassis. 3- The robot system of claim 2, wherein said 3D moving mechanisms comprise, three X, Y and Z moving sections, each having their own said motor gear box, converting rotational movement into linear displacement; wherein each of said X, Y and Z moving components are connected to one another but are controlled separately; therefore when one component is programmed to move the other two will move with it. 4- The robot system of claim 3, wherein said main case further comprises a touch screen display and/or a remote control application for moving and controlling said robot foot holder in any desired direction during different stages of foot operation via said X, Y and Z moving components. 5- The robot system of claim 4, wherein said X, Y and Z moving components each further comprising a case each having at least two linear guides/shafts and at least two trollies/wagons wrapped around each one of said shafts that can slide back and forth in X and Y direction for each one of said X and Y moving components respectively; and moving upwards and downwards in a Z axis direction for said Z moving component. 6- The robot system of claim 5, wherein a bottom side of said case of said Y moving component sits and is attached to a top side of said at least two chassis. 7- The robot system of claim 6, wherein said case of said X moving component sits and is fixedly attached to said case and at least two wagons of said Y moving component. 8- The robot system of claim 7, wherein said Z moving component, helps said robot to move up and down; and sits and fixedly connected to said case and said at least two carriages of said X moving component; and wherein a foot holding shaft is fixedly attached to said Z moving component and its respective gear box; therefore allowing said robot and therefore said patient's foot to move in any desired direction as needed. 9- The robot system of claim 8, wherein said Z motor gearbox and Z moving component can move said foot holder between 600 to 1100 millimeters and can turn said patient foot in a range of −90 up to +90 degrees in comparison with Z axes. 10- The robot system of claim 9, further comprising a pulse oximeter placed near said sole holder for monitoring oxygen level of said patient. 